Release plan for pre-trained (stage-1) checkpoint?

[BehradBeheshti]

Hi, thanks for the great work and thorough release!

The README TODO shows "Release pretrained PoseVLA checkpoints" as done, but I can only find PoseVLA-robotwin on ModelScope, which is described as the RoboTwin post-training checkpoint (inference files only).

Could you point me to where the stage-1 checkpoint is hosted, or does that TODO item refer to the RoboTwin release? If it's not up yet, is there a timeline (even an intermediate checkpoint would help)?

Also: which dataset mixture generated the released nonuniform_bins.pkl?

Thanks!

[hetolin]

Hi! Thanks for your interest. We've just released the stage-1 weights alongside the infer_grounding3d.py script.

Regarding the nonuniform_bins.pkl file, it was generated from a dataset mixture that includes Omni6D, Omni3D, BOP, and Cluttered, as detailed in the paper.